This message was posted on behalf of Intel Corporation
Thank you for contacting us.
I just want to let you know that unfortunately we do not have a solution for calibrating the RGB stream.
But we really appreciate your post, and I'm gonna pass this information to the team in charge to consider it.
Have a nice day.
On a post on the old RealSense forum about this same problem on 5 Dec 2016, Intel staff Jesus L Garcia posted a link on the Intel website for a Camera Calibrator for the R200.
Edit: Llschloesser, re-reading your post, I see you had already used a calibrator. Was it the above program? If so, I apologize.
Edit 2: Adjusting an RGB color stream with the RealSense camera is apparently possible but difficult. A posting on the forum for the open-source RealSense SDK, Librealsense, stated: "Mapping depth to an unrectified RGB stream is possible, but requires building an interpolated inverse table".